/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="rigids">剛体情報</param>
/// <param name="joints">関節情報</param>
/// <param name="model">モデル情報</param>
public PhysicsManager(MMDRigid[] rigids, MMDJoint[] joints, MMDModel model)
{
List<RigidBody> rbodies = new List<RigidBody>();
List<Generic6DofSpringConstraint> dofjoints = new List<Generic6DofSpringConstraint>();
motionState = new List<MMDMotionState>();
List<short> groups = new List<short>();
List<short> masks = new List<short>();
//剛体の作成
for (int i = 0; i < rigids.Length; i++)
{
MMDMotionState mstate;
short group;
rbodies.Add(CreateRigidBody(rigids[i], model, out group, out mstate));
motionState.Add(mstate);
groups.Add(group);
masks.Add((short)rigids[i].GroupTarget);
}
//ジョイント(拘束)の作成
for (int i = 0; i < joints.Length; i++)
{
RigidBody phisic0 = rbodies[(int)joints[i].RigidBodyA];
RigidBody phisic1 = rbodies[(int)joints[i].RigidBodyB];
dofjoints.Add(CreateJoint(phisic0, phisic1, joints[i], model));
}
Rigids = new ReadOnlyCollection<RigidBody>(rbodies);
this.groups = groups.ToArray();
this.masks = masks.ToArray();
Joints = new ReadOnlyCollection<Generic6DofSpringConstraint>(dofjoints);
bSetup = true;
//イベントをフック
PhysicsThreadManager.Instanse.Synchronize += new Action(Update);
PhysicsThreadManager.Instanse.DropFrame += new Action<int>(DropFrame);
}
/// <summary>
/// デフォルトコンストラクタ
/// </summary>
/// <param name="rigid">MMD剛体データ</param>
/// <param name="Model">MMDモデルデータ</param>
public MMDMotionState(MMDRigid rigid, MMDModel Model)
{
UserData = null;
m_rigid = rigid;
//初期の姿勢を計算
Matrix startTransform;
if (!string.IsNullOrEmpty(rigid.RelatedBoneName))
startTransform = Model.BoneManager[rigid.RelatedBoneName].GlobalTransform;
else
{
if (Model.BoneManager.IndexOf("センター") >= 0)
startTransform = Model.BoneManager[Model.BoneManager.IndexOf("センター")].GlobalTransform;
else
startTransform = Matrix.Identity;
}
//ボーンと剛体とのズレを計算
Matrix RigidBias = CreateRigidBias(rigid);
//初期姿勢を計算
startTransform = RigidBias * startTransform * Model.Transform;
//初期の姿勢をMotionStateに設定
btTransform startTrans;
MMDXMath.TobtTransform(ref startTransform, out startTrans);
m_graphicsWorldTrans = startTrans;
m_centerOfMassOffset = btTransform.Identity;
m_startWorldTrans = startTrans;
//これからの計算ように確保
m_rigidBias = RigidBias;
RelatedBoneName = rigid.RelatedBoneName;
m_model = Model;
}
private RigidBody CreateRigidBody(MMDRigid rigid, MMDModel Model,out short group, out MMDMotionState motionStateStart)
{
CollisionShape collision;
RigidBody body;
//衝突スキンの作成
switch (rigid.ShapeType)
{
case 0:
collision = new SphereShape(rigid.ShapeWidth);
break;
case 1:
collision = new BoxShape(new btVector3(rigid.ShapeWidth, rigid.ShapeHeight, rigid.ShapeDepth));
break;
case 2:
collision = new CapsuleShape(rigid.ShapeWidth, rigid.ShapeHeight);
break;
default:
throw new NotImplementedException("不明な剛体タイプ");
}
motionStateStart = new MMDMotionState(rigid, Model);
btVector3 localInertia = btVector3.Zero;
//イナーシャの計算
if (rigid.Type != 0)
collision.calculateLocalInertia(rigid.Weight, out localInertia);
//剛体を作成
body = new RigidBody((rigid.Type != 0 ? rigid.Weight : 0), motionStateStart, collision, localInertia);
//ダンピング値、摩擦、Restitutionをセット
body.setDamping(rigid.LinerDamping, rigid.AngularDamping);
body.Friction = rigid.Friction;
body.Restitution = rigid.Restitution;
//ボーン追従型はKinematicにする
if (rigid.Type == 0)
{
body.ActivationState |= ActivationStateFlags.DISABLE_DEACTIVATION;
body.CollisionFlags = CollisionFlags.CF_KINEMATIC_OBJECT;
if (!string.IsNullOrEmpty(rigid.RelatedBoneName))
Model.BoneManager[rigid.RelatedBoneName].IsPhysics = false;
}
else
{//物理演算型はボーンのフラグをオンにする
if (!string.IsNullOrEmpty(rigid.RelatedBoneName))
Model.BoneManager[rigid.RelatedBoneName].IsPhysics = true;
}
//グループのフラグをセット
group = (short)Math.Pow(2, rigid.GroupIndex);
return body;
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="modelParts">モデルパーツ</param>
/// <param name="boneManager">ボーンマネージャ</param>
/// <param name="faceManager">表情マネージャ</param>
/// <param name="attachedMotion">付属モーション</param>
/// <param name="rigids">剛体</param>
/// <param name="joints">ジョイント</param>
public MMDXModel(List<IMMDModelPart> modelParts, MMDBoneManager boneManager, IMMDFaceManager faceManager, Dictionary<string, MMDMotion> attachedMotion, MMDRigid[] rigids, MMDJoint[] joints)
: base(modelParts, boneManager, faceManager, attachedMotion, rigids, joints)
{
#if XBOX
//ボーンマネージャ・表情マネージャを変換しておく
this.boneManager = (MMDXBoxBoneManager)boneManager;
this.faceManager = (MMDXBoxFaceManager)faceManager;
//グラフィックデバイスの抜き出し
if (modelParts.Count > 0)
{
GraphicsDevice graphics = ((MMDModelPart)modelParts[0]).GraphicsDevice;
//頂点バッファの作成
skinVertexBuffer = new WritableVertexBuffer(graphics, this.boneManager.SKinTransformXBox.Length * 4, typeof(VertexSkinning));
this.faceManager.SetUp(graphics);
}
#endif
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="vertex">頂点データ</param>
/// <param name="modelParts">モデルパーツ</param>
/// <param name="boneManager">ボーンマネージャ</param>
/// <param name="faceManager">表情マネージャ</param>
/// <param name="attachedMotion">付随モーション</param>
/// <param name="rigids">剛体情報</param>
/// <param name="joints">関節情報</param>
public SlimMMDModel(MMDVertexNmTx[] vertex, List<IMMDModelPart> modelParts, MMDBoneManager boneManager, MMDFaceManager faceManager, Dictionary<string, MMDMotion> attachedMotion, MMDRigid[] rigids, MMDJoint[] joints)
: base(modelParts, boneManager, faceManager, attachedMotion, rigids, joints)
{
m_vertex = vertex;
//データのコピー
verticesSource = new VertexPNmTx[m_vertex.LongLength];
for (long i = 0; i < m_vertex.LongLength; ++i)
{
verticesSource[i].Position = m_vertex[i].Position;
verticesSource[i].Normal = m_vertex[i].Normal;
verticesSource[i].Texture = m_vertex[i].TextureCoordinate;
}
InitGraphicsResource();
SlimMMDXCore.Instance.LostDevice += OnLostDevice;
SlimMMDXCore.Instance.ResetDevice += OnResetDevice;
}
/// <summary>
/// コンストラクタ
/// </summary>
/// <param name="modelParts">モデルパーツ</param>
/// <param name="boneManager">ボーンマネージャ</param>
/// <param name="faceManager">表情マネージャ</param>
/// <param name="attachedMotion">付随モーション</param>
/// <param name="rigids">剛体情報</param>
/// <param name="joints">関節情報</param>
public MMDModel(List<IMMDModelPart> modelParts, MMDBoneManager boneManager, IMMDFaceManager faceManager, Dictionary<string, MMDMotion> attachedMotion, MMDRigid[] rigids, MMDJoint[] joints)
{
Transform = Matrix.Identity;
this.modelParts = modelParts;
this.boneManager = boneManager;
this.faceManager = faceManager;
this.attachedMotion = attachedMotion;
Culling = true;
boneManager.CalcGlobalTransform();
this.physicsManager = new PhysicsManager(rigids, joints, this);
foreach (var part in modelParts)
part.SetModel(this);
Parts = new ReadOnlyCollection<IMMDModelPart>(modelParts);
animationPlayer = new AnimationPlayer(boneManager, faceManager);
//イベントフック
MMDCore.Instance.OnBoneUpdate += new Action<float>(BoneUpdate);
MMDCore.Instance.OnSkinUpdate += new Action<float>(SkinUpdate);
}
Matrix CreateRigidBias(MMDRigid rigid)
{
return MMDXMath.CreateMatrixFromYawPitchRoll(rigid.Rotation[1], rigid.Rotation[0], rigid.Rotation[2])
* MMDXMath.CreateTranslationMatrix(rigid.Position[0], rigid.Position[1], rigid.Position[2]);
}
